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Proceedings of the Biannual World Automation Congress

作者： C. Lucas F. Rashidi J. Abdi School of Intelligent Systems Institute of Studies in Theoretical Physics and Mathematics Tehran Iran Control and Intelligent Processing Center of Excellence Electrical and Computer Engineering Department University of Tehran Tehran Iran

This paper proposes a Context Based Emotional controller (CBEC) to Thyrislor controlled Series Capacitor (TCSC), which might have a significant impact on power system dynamics. The role of a CBEC is to control a firing angle of the TCSC. In this case, the CBEC is used for damping the low frequency oscillations caused by disturbances such 3s a sudden change of small or large loads or an outage in the generators or transmission lines. To evaluate the usefulness of the proposed method, we compare the response of CBEC with fumy PI) controller. The simulation results show that our method has the better control performance than fuzzy PD controller.

关键词： Power system transients Power system stability control systems Power system control Power systems Power capacitors Thyristors Frequency Power system dynamics Optimal control

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Real-Time Level Plant control Using Improved BELBIC

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IFAC Proceedings Volumes 2008年第2期41卷 4631-4635页

作者： M. Masoudinejad R. Khorsandi A. Fatehi C. Lucas S. Fakhimi Derakhshan M.R. Jamali Advanced Process Automation & Control (APAC) Research Group Faculty of Electrical Engineering K. N. Toosi University of Technology Tehran Iran Center of Excellence for Control and Intelligent Processing Electrical and Computer engineering Department University of Tehran Iran

Brain emotional learning based intelligent controller (BELBIC) is based on computational model of limbic system in the mammalian brain. In recent years, this model was applied in many linear and nonlinear control applications. Previous studies show that this controller has fast response, simple implementation and robustness with respect to disturbances. It is also possible to define emotional signal based on control application objectives. But in the previous studies, internal instability of this controller was not considered and control task were done in limited time period. In this article mathematical description of BELBIC is investigated and improved to avoid internal instability. Simulation and implementation of improved model was done on level plant. The obtained results showed that instability of model has been solved in the new model without loss of performance by using Integral Anti Windup (IAW).

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Distributed formation control of networked mechanical systems

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IFAC-PapersOnLine 2022年第13期55卷 294-299页

作者： N. Javanmardi P. Borja M.J. Yazdanpanah J.M.A. Scherpen Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering University of Tehran Tehran Iran Department of Cognitive Robotics Delft University of Technology Delft The Netherlands Jan C. Wilems Center for Systems and Control ENTEG Faculty of Science and Engineering University of Groningen Groningen The Netherlands

This paper investigates a distributed formation tracking control law for large-scale networks of mechanical systems. In particular, the formation network is represented by a directed communication graph with leaders and followers, where each agent is described as a port-Hamiltonian system with a constant mass matrix. Moreover, we adopt a distributed parameter approach to prove the scalable asymptotic stability of the network formation, i.e., the scalability with respect to the network size and the specific formation preservation. A simulation case illustrates the effectiveness of the proposed control approach.

关键词： Autonomous systems Cooperative control Networked control systems Large-scale systems Port-Hamiltonian systems Scalability

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Optimal Tracking Performance of Networked control systems Under DoS and Its Applications

Optimal Tracking Performance of Networked Control Systems Un...

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2024 China Automation Congress, CAC 2024

作者： Ren, Xinyu Li, Bo Zhao, Feng Chen, Xiangyong Zhang, Xianhe Jiang, Xiaowei School of Automation China University of Geosciences Hubei Key Laboratory of Advanced Control and Intelligent Automation of Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of Education Wuhan China School of Finance Anhui University of Finance and Economics Bengbu China Key Laboratory of Complex systems and Intelligent Computing in Universities of Shandong Linyi University Linyi China School of Automation and Electrical Engineering Key Laboratory of Complex systems and Intelligent Computing in Universities of Shandong Linyi University Linyi China School of Electrical Engineering and Automation Hubei Normal University Huangshi China

ISBN: (纸本)9798350368604

This paper investigates the optimal tracking performance (OTP) of multiple-input multiple-output (MIMO) discrete networked control systems (NCSs) under the influence of Denial of Service (DoS) attack, channel noise, and bandwidth constraints. The channel noise is assumed to be additive Gaussian white noise (AWGN). Due to the randomness of DoS attack, a Bernoulli distribution is used for DoS modeling. Utilizing frequency domain analysis methods, coprime factorization, all-pass decomposition, and Youla parameterization, an explicit expression for the optimal tracking performance (OTP) of the system under the two-degree-of-freedom (TDOF) controller is derived. The analysis indicates that non-minimum phase (NMP) zeros, unstable poles (UPs), DoS attack, and network constraints affect the OTP of NCSs. Finally, the theoretical results are validated through simulations of MIMO NCS and vehicle control system. © 2024 IEEE.

关键词： White noise

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An evolutionary fuzzy modeling approach for ANFIS architecture

An evolutionary fuzzy modeling approach for ANFIS architectu...

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Congress on Evolutionary Computation

作者： F. Rastegar B.N. Araabi C. Lucast Institute for Studies in Theoretical Physics and Mathematics School of Intelligent Systems Tehran Iran Control and Intelligent Processing Center of Excellence University of Tehran Tehran Iran School of Intelligent Systems Institute for studies in theoretical Physics and Mathematics Tehran Iran

This paper proposes a cooperative evolutionary method for optimizing the properties of an ANFIS-architecture-based model where only the input-output data of the identified system are available. The primary tasks of fuzzy modeling are structure identification and parameter optimization: the former determines the numbers of membership functions and fuzzy if-then rules while the latter identifies a feasible set of parameters under the given structure. The proposed approach manages all mentioned attributes simultaneously. Particularly, number of rules and parameters of membership functions are realized by applying a novel approach using genetic programming and genetic algorithm whereas consequent parameters are tuned by using least-squares estimation. Finally, two examples of nonlinear system are given to illustrate the effectiveness of the proposed approach.

关键词： Fuzzy sets Genetic programming Fuzzy systems Mathematical model Genetic algorithms Optimization methods Nonlinear systems Evolutionary computation Testing Computer architecture

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KNTU-RoboGlove: Design of a Pneumatic Soft Robotic Glove 11

KNTU-RoboGlove: Design of a Pneumatic Soft Robotic Glove

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11th RSI International Conference on Robotics and Mechatronics, ICRoM 2023

作者： Boka, Tanin Nikkhah, M. Navid Moosavian, S. Ali A. Toosi University of Technology Tehran Center of Excellence in Robotics and Control Advanced Robotics and Automated Systems Laboratory Dept of Mechanical Engineering K. N. Tehran Iran K. N. Toosi University of Technology Tehran Dept of Mechanical Engineering Tehran Iran

ISBN: (纸本)9798350308105

This paper introduces an innovative advancement in the field of wearable assistive technology by presenting a revolutionary portable soft robotic glove designed to assist individuals with hand impairments during rehabilitation exercises and daily tasks. The glove offers both active finger flexion and passive extension to aid in hand support and rehabilitative training. It achieves this by utilizing integrated soft actuators, including a variable stiffness layer and a pneumatic-driven layer, which guide specific bending, twisting, and extending movements when air pressure is applied. Notably, the variable stiffness layer takes inspiration from pangolins, whose scales are pliable during daily activities but become rigid when facing threats. To provide increased power with enhanced stiffness, a toothed pneumatic actuator is specially designed. The three-finger soft glove is manufactured by molding super-elastic material, creating the actuator mold using a 3D printer. The glove's grasping abilities have been thoroughly tested, and experimental results demonstrate that, when compared to previously developed elastomeric-based actuators, these actuators can generate substantial force and torque to facilitate finger flexion even at lower air pressure levels. This capability allows the glove to grasp a wide range of objects, assisting individuals in their rehabilitative training. Furthermore, a control system for grasping has been developed, which includes motion processing unit sensors for collecting feedback signals aligned with the actuators, along with a closed-loop controller for regulating the pressure. In contrast to existing devices, this glove, thanks to its portable design, has the potential to significantly enhance user autonomy and independence. © 2023 IEEE.

关键词： Pneumatic actuators

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Two Dimensional Dynamic Manipulation of a Disc Using Two Manipulators

Two Dimensional Dynamic Manipulation of a Disc Using Two Man...

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IEEE International Conference on Mechatronics and Automation

作者： Borhan Beigzadeh Majid Nili Ahmadabadi Ali Meghdari Center of Excellence in Design Robotics and Automation (CEDRA) ME Department Sharif University of Technology Iran Control and Intelligent Processing Center of Excellence Robotics and AI Laboratory ECE Department University of Tehran Iran

In this paper, we analyze a dynamic object manipulation (DOM) problem; throwing upward and catching a disc using two planar manipulators. The manipulators control the disc xy position dynamically and use its angular movement as a free parameter. We use a simple model for the system. Each manipulator has three links and three active joints. In addition, the disc has considerable radius and mass. Therefore, we design a simple mechanism in the palm to damp a portion of the impact

关键词： Manipulator dynamics Robotics and automation intelligent robots Leg Grippers Motion planning Humans Design automation Process control Force control

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Generalized-Extended-State-Observer and Equivalent-Input-Disturbance Methods for Active Disturbance Rejection: Deep Observation and Comparison

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IEEE/CAA Journal of Automatica Sinica 2023年第4期10卷 957-968页

作者： Jinhua She Kou Miyamoto Qing-Long Han Min Wu Hiroshi Hashimoto Qing-Guo Wang School of Engineering Tokyo University of TechnologyHachiojiTokyo 192-0982Japan K.Miyamoto is with the Institute of Technology Shimizu CorporationKotoTokyo 135-0044Japan School of Science Computing and Engineering TechnologiesSwinburne University of TechnologyMelbourneVIC 3122Australia School of Automation China University of GeosciencesWuhan 430074 Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems Engineering Research Center of Intelligent Technology for Geo-Exploration Ministry of EducationWuhan 430074China School of Industrial Technology Advanced Institute of Industrial TechnologyTokyo 140-0011Japan Institute of Artificial Intelligence and Future Networks Beijing Normal UniversityZhuhai 519087 Guangdong Key Lab of AI and Multi-Modal Data Processing Guangdong Provincial Key Laboratory of Interdisciplinary Research and Application for Data Science BNUHKBU United International College Zhuhai 519087China

Active disturbance-rejection methods are effective in estimating and rejecting disturbances in both transient and steady-state *** paper presents a deep observation on and a comparison between two of those methods:the generalized extended-state observer(GESO)and the equivalent input disturbance(EID)from assumptions,system configurations,stability conditions,system design,disturbance-rejection performance,and extensibility.A time-domain index is introduced to assess the disturbance-rejection performance.A detailed observation of disturbance-suppression mechanisms reveals the superiority of the EID approach over the GESO method.A comparison between these two methods shows that assumptions on disturbances are more practical and the adjustment of disturbance-rejection performance is easier for the EID approach than for the GESO method.

关键词： Active disturbance-rejection control(ADRC) disturbance observer(DOB) equivalent input disturbance(EID) extendedstate observer(ESO) generalized extended-state observer(GESO)

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Using general sound descriptors for early autism detection

Using general sound descriptors for early autism detection

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Asian control Conference

作者： Seyyed Hamid R. Ebrahimi Motlagh Hadi Moradi Hamidreza Pouretemad Advanced Robotics and Intelligent Systems Laboratory Control and Intelligent Processing Center of Excellence School of Electrical and Computer Engineering College of Engineering University of Tehran Tehran Iran ARIS and CIPCE School of ECE College of Engineering University of Tehran Iran Shahid Beheshti University Tehran Tehran IR

ISBN: (纸本)9781467357661

Early detection of autism is crucial for successfully dealing with it and reduce/eliminate its effects. In other words, early treatment can make a big difference in the lives of many children with this disorder. Consequently, in this study the pattern recognition algorithms are used to determine the unique features of the voice of autistic children to distinguish between the autistic children and normal children between ages 2 and 3. These descriptors extract various audio features such as temporal features, energy features, harmonic features, perceptual and spectral features. Two feature selection methods are used and the results are compared. One method is based on comparing the effect of using all of a group features together and another method compares the effect of using features one by one. The selected features are used to classify selected children into autistic and non-autistic ones. The results show 96.17 percent accuracy. After feature selection, we classified data using S.V.M classifier for recognizing two types of input data.

关键词： Autism Feature extraction Mel frequency cepstral coefficient Educational institutions Harmonic analysis Accuracy Motion pictures

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Feature-Based Approach to Fuse fMRI and DTI in Epilepsy Using Joint Independent Component Analysis

Feature-Based Approach to Fuse fMRI and DTI in Epilepsy Usin...

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Iranian Conference of Biomedical Engineering

作者： Amir Hosein Riazi Hamid Soltanian-Zadeh Gholam-Ali Hossein-Zadeh Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering University College of Engineering University of Tehran Tehran Iran Control and Intelligent Processing Center of Excellence (CIPCE) School of Electrical and Computer Engineering University College of Engineering University of Tehran Tehran Iran & Image Analysis Laboratory Henry Ford Health System Detroit Michigan

ISBN: (纸本)9781467331289

Functional magnetic resonance imaging (fMRI) and structural MRI (sMRI) provide complementary information. Signal processing and statistical models may be used to fuse neuroimaging data across different imaging modalities. In this paper, we present a data driven method for fusing resting state fMRI and diffusion tensor imaging (DTI) data at feature level. The features are amplitude of low frequency fluctuations (ALFF) and fractional anisotropy (FA) extracted from fMRI and DTI datasets of epilepsy and healthy controls, respectively. We discuss main issues associated with group independent component analysis (ICA) as a fusion method. We address our proposed approach for combining two modalities across subjects and back reconstruction of independent components for each group and each subject. Our results indicate that connectivity of regions in default mode network depends on integrity of white matter that connects the two hemispheres (corpus callosum). The proposed signal processing and statistical methods facilitate evaluation of brain connectivity using different modalities. Separate analysis of data modalities does not reveal results of joint analysis.

关键词： FMRI DTI Joint ICA Group Analysis

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